mirror of
https://github.com/bulletphysics/bullet3
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70 lines
2.2 KiB
XML
70 lines
2.2 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="xarm6_base">
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<!--
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Author: Jason Peng <jason@ufactory.cc>
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Contributers:
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-->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/xarm</robotNamespace>
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<!-- <controlPeriod>0.0001</controlPeriod> -->
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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<legacyModeNS>true</legacyModeNS>
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<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
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</plugin>
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</gazebo>
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<link name="world"/>
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<joint name="world_joint" type="fixed">
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<parent link="world"/>
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<child link="link_base"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<material name="Black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="Red">
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<color rgba="0.85 0.19 0.21 1.0"/>
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</material>
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<material name="Blue">
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<color rgba="0.28 0.52 0.92 1.0"/>
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</material>
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<material name="Green">
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<color rgba="0.23 0.72 0.32 1.0"/>
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</material>
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<material name="Yellow">
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<color rgba="0.95 0.76 0.05 1.0"/>
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</material>
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<material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<material name="Silver">
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<color rgba="0.753 0.753 0.753 1.0"/>
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</material>
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<link name="link_base">
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="Blue"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
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<mass value="2.7"/>
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<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
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</inertial>
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</link>
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</robot>
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